First of all I would like to say that I am still working on the rigid body simulation. I am
implementing Minkowski portal refinement  (MPR)  for collision detection. I already have
implemented sweep and prune for my broad phase, and I use Euler as my integrator. For
collision resolution I would like to use “Iterative Dynamics with Temporal Coherence” the
constraint solver method Erin Catto describes in his paper that bears the same name.